Method for positioning a target portion of a substrate with respect to a focal plane of a projection system

ABSTRACT

A method is provided for positioning at least one target portion of a substrate with respect to a focal plane of a projection system. The method comprises performing height measurements of at least part of the substrate to generate height data, using predetermined correction heights to compute corrected height data for the height data. The method further comprises positioning the target portion of the substrate with respect to the focal plane of the projection system at least partially based on the corrected height data.

This application is a continuation-in-part of pending U.S. patentapplication Ser. No. 11/642,985, filed Dec. 21, 2006, the entirecontents of which are incorporated herein by reference.

FIELD

The present invention relates to a method for positioning a targetportion of a substrate with respect to a focal plane of a projectionsystem, a method for generating correction heights to correct heightdata obtained by a level sensor, a lithographic apparatus, a computerarrangement, a computer program product and a data carrier comprisingsuch a computer program product.

BACKGROUND

A lithographic apparatus is a machine that applies a desired patternonto a substrate, usually onto a target portion of the substrate. Alithographic apparatus can be used, for example, in the manufacture ofintegrated circuits (ICs). In that instance, a patterning device, whichis alternatively referred to as a mask or a reticle, may be used togenerate a circuit pattern to be formed on an individual layer of theIC. This pattern can be transferred onto a target portion (e.g.comprising part of, one, or several dies) on a substrate (e.g. a siliconwafer). Transfer of the pattern is typically via imaging onto a layer ofradiation-sensitive material (resist) provided on the substrate. Ingeneral, a single substrate will contain a network of adjacent targetportions that are successively patterned. Known lithographic apparatusinclude so-called steppers, in which each target portion is irradiatedby exposing an entire pattern onto the target portion at one time, andso-called scanners, in which each target portion is irradiated byscanning the pattern through a radiation beam in a given direction (the“scanning”-direction) while synchronously scanning the substrateparallel or anti-parallel to this direction. It is also possible totransfer the pattern from the patterning device to the substrate byimprinting the pattern onto the substrate.

When a pattern is transferred onto a target portion via imaging, this isusually done using a projection system that will be discussed in moredetail below. In order to obtain a projection of high quality, thesubstrate should be positioned accurately with respect to the projectionsystem, i.e. in a focal plane of the projection system, taking intoaccount the local shape of the substrate. Measuring the shape of asubstrate and positioning the substrate with respect to the projectionsystem is called leveling.

To level accurately, a level sensor may be used to measure the shape ofthe substrate, based on which during exposure, the position andorientation of the substrate may be adjusted to achieve optimal imagingresults. The level sensor measurements may be performed before start ofthe exposure, for instance in a multi stage lithographic apparatus. Thelevel sensor measurements may also be performed during exposure (on thefly), for instance in a single stage lithographic apparatus.

The level sensor may perform height measurements to generate heightdata.

However, level sensor measurements may fail when measuring near the edgeof a substrate, for instance because all or part of the measurementbeams of the level sensor fall outside the substrate or fall within anedge area of the substrate in which no valid measurements may beobtained.

According to the prior art, leveling in the areas where no valid levelsensor measurements are obtainable may be done by using height data fromlevel sensor measurements from nearby areas, for instance byextrapolation of level sensor measurements from nearby areas. However,using information from nearby areas (typically not areas along the edgeof the substrate) is not very reliable, as the shape of the substratemay be deviating near the edge with respect to inner areas.

According to an alternative solution described in US 2005-0134865 A1,the global shape of the substrate near the edge of the substrate isdetermined based on a so-called global level contour, describing theaverage ‘shape’ of the substrate near the edge. Such a global levelcontour (GLC) may be determined by performing a special measurement, inwhich the level sensor is used to scan along the edge of the substrateand typically comprises three parameters: Rx, Ry (rotation about x and yaxis respectively) and Z (the z-axis substantially perpendicular withrespect to the surface of the substrate the pattern is to be applied to,and the x- and y-axes substantially perpendicular with respect to thez-axis and with respect to each other). This causes defocus on the edgefield since the GLC-based height and tilt is often too far away from theactual local height and tilt. The defocus is often that large (up to afew hundred nm) that all dies in the field become non-yielding and thusunusable. Also, lines in poorly imaged dies may fall over and may be acontamination source for next process steps.

SUMMARY

It is desirable to provide a method and a system that allow relativelyaccurate leveling to be performed along the edge of a substrate.

According to an embodiment, there is provided a method for positioningat least one target portion of a substrate with respect to a focal planeof a projection system, the method comprising:

-   -   performing height measurements of at least part of the substrate        to generate height data;    -   using predetermined correction heights to compute corrected        height data for the height data; and    -   positioning the target portion of the substrate with respect to        the focal plane of the projection system at least partially        based on the corrected height data.        The corrected height data may correspond to at least one area of        the at least part of the substrate located inside or outside the        target portion. Also a mix of these two approaches may be used        for a single target portion.

According to an embodiment, there is provided a lithographic apparatuscomprising:

-   -   a support constructed to support a patterning device, the        patterning device being capable of imparting a radiation beam        with a pattern in its cross-section to form a patterned        radiation beam;    -   a substrate table constructed to hold a substrate;    -   a projection system configured to project the patterned        radiation beam onto a target portion of the substrate; and    -   a level sensor configured to perform height measurements of at        least part of the substrate to generate height data, for use in        positioning a target portion of the substrate with respect to a        focal plane of the projection system, wherein the level sensor        is adapted to use predetermined correction heights to compute        corrected height data for the height data.        The corrected height data may correspond to at least one area of        the at least part of the substrate located inside or outside the        target portion. Also a mix of these two approaches may be used        for a single target portion.

According to an embodiment, there is provided a method for generatingcorrection heights to correct height data obtained by a level sensormeasuring a substrate, the method comprising:

-   -   performing height measurements of at least one target portion of        the substrate to generate a height profile;    -   computing a level profile based on the height profile; and    -   determining correction heights by computing the difference        between the level profile and the height profile.

According to an embodiment, there is provided a method for generatingcorrection heights to correct height data obtained by a level sensormeasuring a substrate, the method comprising:

-   -   performing height measurements of at least one target portion of        the substrate to generate a height profile;    -   performing height measurements in an area outside the at least        one target portion of the substrate to generate an additional        height profile;    -   computing a level profile based on the height profile;    -   extrapolating the level profile to the area outside the at least        one target portion that corresponds to the additional height        profile, to provide an extrapolated level profile; and    -   determining correction heights by computing the difference        between the extrapolated level profile and the additional height        profile.

According to an embodiment, there is provided a lithographic apparatuscomprising a support, a substrate table, a projection system, and alevel sensor. The support is constructed to support a patterning device,the patterning device being capable of imparting a radiation beam with apattern in its cross-section to form a patterned radiation beam. Thesubstrate table is constructed to hold a substrate. The projectionsystem is configured to project the patterned radiation beam onto atarget portion of the substrate. The level sensor is configured toperform height measurements of at least part of the substrate togenerate height data, for use in positioning a target portion of thesubstrate with respect to a focal plane of the projection system. Thelithographic apparatus is arranged to:

-   -   perform height measurements of at least one target portion of        the substrate to generate a height profile,    -   compute a level profile based on the height profile, and    -   determine correction heights by computing the difference between        the level profile and the height profile.

According to an embodiment, there is provided a lithographic apparatuscomprising a support, a substrate table, a projection system, and alevel sensor. The support is constructed to support a patterning device,the patterning device being capable of imparting a radiation beam with apattern in its cross-section to form a patterned radiation beam. Thesubstrate table is constructed to hold a substrate. The projectionsystem is configured to project the patterned radiation beam onto atarget portion of the substrate. The level sensor is configured toperform height measurements of at least part of the substrate togenerate height data, for use in positioning a target portion of thesubstrate with respect to a focal plane of the projection system. Thelithographic apparatus is arranged to:

-   -   perform height measurements of at least one target portion of        the substrate to generate a height profile,    -   perform height measurements in an area outside the at least one        target portion of the substrate to generate an additional height        profile,    -   compute a level profile based on the height profile,    -   extrapolate the level profile to the area outside the at least        one target portion that corresponds to the additional height        profile, to provide an extrapolated level profile, and    -   determine correction heights by computing the difference between        the extrapolated level profile and the additional height        profile.

According to an embodiment, there is provided a lithographic apparatuscomprising a support, a substrate table, a projection system, a levelsensor, a processor, and memory. The support is constructed to support apatterning device, the patterning device being capable of imparting aradiation beam with a pattern in its cross-section to form a patternedradiation beam. The substrate table is constructed to hold a substrate.The projection system is configured to project the patterned radiationbeam onto a target portion of the substrate. The level sensor isconfigured to perform height measurements of at least part of thesubstrate to generate height data, for use in positioning a targetportion of the substrate with respect to a focal plane of the projectionsystem. The memory is encoded with a computer program containinginstructions that are executable by the processor to perform a methodfor positioning the target portion of the substrate with respect to thefocal plane of the projection system, wherein the method comprises:

-   -   performing height measurements of at least part of the substrate        to generate height data;    -   using predetermined correction heights to compute corrected        height data for the height data; and    -   positioning the target portion of the substrate with respect to        the focal plane of the projection system at least partially        based on the corrected height data.        The corrected height data may correspond to at least one area of        the at least part of the substrate located inside or outside the        target portion. Also a mix of these two approaches may be used        for a single target portion.

According to an embodiment, there is provided a lithographic apparatuscomprising a support, a substrate table, a projection system, a levelsensor, a processor, and memory. The support is constructed to support apatterning device, the patterning device being capable of imparting aradiation beam with a pattern in its cross-section to form a patternedradiation beam. The substrate table is constructed to hold a substrate.The projection system is configured to project the patterned radiationbeam onto a target portion of the substrate. The level sensor isconfigured to perform height measurements of at least part of thesubstrate to generate height data, for use in positioning a targetportion of the substrate with respect to a focal plane of the projectionsystem. The memory is encoded with a computer program containinginstructions that are executable by the processor to perform a methodfor calculating correction heights to correct height data obtained bythe level sensor, the method comprising:

-   -   performing height measurements of the target portion of the        substrate to generate a height profile;    -   computing a level profile based on the height profile; and    -   determining correction heights by computing the difference        between the level profile and the height profile.

According to an embodiment, there is provided a lithographic apparatuscomprising a support, a substrate table, a projection system, a levelsensor, a processor and memory. The support is constructed to support apatterning device, the patterning device being capable of imparting aradiation beam with a pattern in its cross-section to form a patternedradiation beam. The substrate table is constructed to hold a substrate.The projection system is configured to project the patterned radiationbeam onto a target portion of the substrate. The level sensor isconfigured to perform height measurements of at least part of thesubstrate to generate height data, for use in positioning a targetportion of the substrate with respect to a focal plane of the projectionsystem. The memory is encoded with a computer program containinginstructions that are executable by the processor to perform a methodfor calculating correction heights to correct height data obtained bythe level sensor, wherein the method comprises:

-   -   performing height measurements of the target portion of the        substrate to generate a height profile;    -   performing height measurements in an area outside the target        portion of the substrate to generate an additional height        profile;    -   computing a level profile based on the height profile;    -   extrapolating the level profile to the area outside the target        portion that corresponds to the additional height profile, to        provide an extrapolated level profile; and    -   determining correction heights by computing the difference        between the extrapolated level profile and the additional height        profile.

According to an embodiment, there is provided a system for controllingthe position of a substrate, the system comprising a processor and amemory, the memory being encoded with a computer program containinginstructions that are executable by the processor to perform, usingheight data, a method for positioning a target portion of the substratewith respect to a focal plane of a projection system, wherein the methodcomprises:

-   -   performing height measurements of at least part of the substrate        to generate the height data;    -   using predetermined correction heights to compute corrected        height data for the height data; and    -   positioning the target portion of the substrate with respect to        the focal plane of the projection system at least partially        based on the corrected height data.        The corrected height data may correspond to at least one area of        the at least part of the substrate located inside or outside the        target portion. Also a mix of these two approaches may be used        for a single target portion.

According to an embodiment, there is provided a system for controllingthe position of a substrate, the system comprising a processor and amemory, the memory being encoded with a computer program containinginstructions that are executable by the processor to perform a methodfor calculating correction heights to correct height data obtained by alevel sensor, wherein the method comprises:

-   -   performing height measurements of a target portion of the        substrate to generate a height profile;    -   computing a level profile based on the height profile; and    -   determining correction heights by computing the difference        between the level profile and the height profile.

According to an embodiment, there is provided a system for controllingthe position of a substrate, the system comprising a processor and amemory, the memory being encoded with a computer program containinginstructions that are executable by the processor to perform a methodfor calculating correction heights to correct height data obtained by alevel sensor, wherein the method comprises:

-   -   performing height measurements of a target portion of the        substrate to generate a height profile;    -   performing height measurements in an area outside the target        portion of the substrate to generate an additional height        profile;    -   computing a level profile based on the height profile;    -   extrapolating the level profile to the area outside the target        portion that corresponds to the additional height profile, to        provide an extrapolated level profile; and    -   determining correction heights by computing the difference        between the extrapolated level profile and the additional height        profile.

According to an embodiment, there is provided a computer-readable mediumencoded with a computer program containing instructions that areexecutable by the processor to perform any one of the methods accordingto the above.

According to an embodiment, there is provided a data carrier comprisinga computer program product according to the above.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described, by way of exampleonly, with reference to the accompanying schematic drawings in whichcorresponding reference symbols indicate corresponding parts, and inwhich:

FIG. 1 schematically depicts a lithographic apparatus according to anembodiment of the invention,

FIG. 2 schematically depicts part of a lithographic apparatus comprisinga level sensor,

FIGS. 3 a and 3 b schematically depict a target portion of a substratein combination with a number of level sensor spots,

FIGS. 4 a and 4 b schematically depict edge target portions of asubstrate in combination with a number of level sensor spots,

FIGS. 5 a and 5 b schematically depict edge target portions of asubstrate in combination with a number of level sensor spots accordingto an embodiment,

FIG. 6 schematically depicts a cross sectional view of a substrate,

FIG. 7 schematically depicts a cross sectional view of a substrateaccording to an embodiment,

FIG. 8 schematically depicts a flow diagram according to an embodiment,

FIG. 9 schematically depicts an edge target portion of a substrateaccording to an embodiment,

FIG. 10 schematically depicts a flow diagram according to an embodiment,

FIGS. 11 a and 11 b schematically depict a further embodiment, and

FIGS. 12 a and 12 b schematically depict a further embodiment.

DETAILED DESCRIPTION

FIG. 1 schematically depicts a lithographic apparatus according to oneembodiment of the invention. The apparatus comprises:

-   -   an illumination system (illuminator) IL configured to condition        a radiation beam B (e.g. UV radiation or EUV radiation);    -   a support structure (e.g. a mask table) MT constructed to        support a patterning device (e.g. a mask) MA and connected to a        first positioner PM configured to accurately position the        patterning device MA in accordance with certain parameters;    -   a substrate table (e.g. a wafer table) WT constructed to hold a        substrate (e.g. a resist-coated wafer) W and connected to a        second positioner PW configured to accurately position the        substrate W in accordance with certain parameters; and    -   a projection system (e.g. a refractive projection lens system)        PS configured to project a pattern imparted to the radiation        beam B by patterning device MA onto a target portion C (e.g.        comprising one or more dies) of the substrate W.

The illumination system may include various types of optical components,such as refractive, reflective, magnetic, electromagnetic, electrostaticor other types of optical components, or any combination thereof, fordirecting, shaping, or controlling radiation.

The support structure MT supports, i.e. bears the weight of, thepatterning device MA. It holds the patterning device MA in a manner thatdepends on the orientation of the patterning device MA, the design ofthe lithographic apparatus, and other conditions, such as for examplewhether or not the patterning device MA is held in a vacuum environment.The support structure MT can use mechanical, vacuum, electrostatic orother clamping techniques to hold the patterning device MA. The supportstructure MT may be a frame or a table, for example, which may be fixedor movable as required. The support structure MT may ensure that thepatterning device MA is at a desired position, for example with respectto the projection system PS. Any use of the terms “reticle” or “mask”herein may be considered synonymous with the more general term“patterning device.”

The term “patterning device” used herein should be broadly interpretedas referring to any device that can be used to impart a radiation beamwith a pattern in its cross-section such as to create a pattern in atarget portion of the substrate. It should be noted that the patternimparted to the radiation beam may not exactly correspond to the desiredpattern in the target portion of the substrate, for example if thepattern includes phase-shifting features or so-called assist features.Generally, the pattern imparted to the radiation beam will correspond toa particular functional layer in a device being created in the targetportion, such as an integrated circuit.

The patterning device MA may be transmissive or reflective. Examples ofpatterning devices include masks, programmable mirror arrays, andprogrammable LCD panels. Masks are well known in lithography, andinclude mask types such as binary, alternating phase-shift, andattenuated phase-shift, as well as various hybrid mask types. An exampleof a programmable mirror array employs a matrix arrangement of smallmirrors, each of which can be individually tilted so as to reflect anincoming radiation beam in different directions. The tilted mirrorsimpart a pattern in a radiation beam which is reflected by the mirrormatrix.

The term “projection system” used herein should be broadly interpretedas encompassing any type of projection system, including refractive,reflective, catadioptric, magnetic, electromagnetic and electrostaticoptical systems, or any combination thereof, as appropriate for theexposure radiation being used, or for other factors such as the use ofan immersion liquid or the use of a vacuum. Any use of the term“projection lens” herein may be considered as synonymous with the moregeneral term “projection system.”

As here depicted, the apparatus is of a transmissive type (e.g.employing a transmissive mask). Alternatively, the apparatus may be of areflective type (e.g. employing a programmable mirror array of a type asreferred to above, or employing a reflective mask).

The lithographic apparatus may be of a type having two (dual stage) ormore substrate tables (and/or two or more mask tables). In such“multiple stage” machines the additional tables may be used in parallel,or preparatory steps may be carried out on one or more tables while oneor more other tables are being used for exposure.

The lithographic apparatus may also be of a type wherein at least aportion of the substrate may be covered by a liquid having a relativelyhigh refractive index, e.g. water, so as to fill a space between theprojection system PS and the substrate W. An immersion liquid may alsobe applied to other spaces in the lithographic apparatus, for example,between the mask and the projection system PS. Immersion techniques arewell known in the art for increasing the numerical aperture ofprojection systems. The term “immersion” as used herein does not meanthat a structure, such as a substrate, must be submerged in liquid, butrather only means that liquid is located between the projection systemPS and the substrate W during exposure.

Referring to FIG. 1, the illuminator IL receives a radiation beam from aradiation source SO. The source and the lithographic apparatus may beseparate entities, for example when the source is an excimer laser. Insuch cases, the source is not considered to form part of thelithographic apparatus and the radiation beam is passed from the sourceSO to the illuminator IL with the aid of a beam delivery system BDcomprising, for example, suitable directing mirrors and/or a beamexpander. In other cases, the source may be an integral part of thelithographic apparatus, for example when the source is a mercury lamp.The source SO and the illuminator IL, together with the beam deliverysystem BD if required, may be referred to as a radiation system.

The illuminator IL may comprise an adjuster AD for adjusting the angularintensity distribution of the radiation beam. Generally, at least theouter and/or inner radial extent (commonly referred to as σ-outer andσ-inner, respectively) of the intensity distribution in a pupil plane ofthe illuminator IL can be adjusted. In addition, the illuminator IL maycomprise various other components, such as an integrator IN and acondenser CO. The illuminator IL may be used to condition the radiationbeam, to have a desired uniformity and intensity distribution in itscross-section.

The radiation beam B is incident on the patterning device (e.g., maskMA), which is held on the support structure (e.g., mask table MT), andis patterned by the patterning device. Having traversed the mask MA, theradiation beam B passes through the projection system PS, which focusesthe beam onto a target portion C of the substrate W. With the aid of thesecond positioner PW and position sensor IF (e.g. an interferometricdevice, linear encoder or capacitive sensor), the substrate table WT canbe moved accurately, e.g. so as to position different target portions Cin the path of the radiation beam B. Similarly, the first positioner PMand another position sensor (which is not explicitly depicted in FIG. 1)can be used to accurately position the mask MA with respect to the pathof the radiation beam B, e.g. after mechanical retrieval from a masklibrary, or during a scan. In general, movement of the mask table MT maybe realized with the aid of a long-stroke module (coarse positioning)and a short-stroke module (fine positioning), which form part of thefirst positioner PM. Similarly, movement of the substrate table WT maybe realized using a long-stroke module and a short-stroke module, whichform part of the second positioner PW. In the case of a stepper (asopposed to a scanner) the mask table MT may be connected to ashort-stroke actuator only, or may be fixed. Mask MA and substrate W maybe aligned using mask alignment marks M1, M2 and substrate alignmentmarks P1, P2. Although the substrate alignment marks as illustratedoccupy dedicated target portions, they may be located in spaces betweentarget portions (these are known as scribe-lane alignment marks).Similarly, in situations in which more than one die is provided on themask MA, the mask alignment marks may be located between the dies.

The depicted apparatus could be used in at least one of the followingmodes:

1. In step mode, the mask table MT and the substrate table WT are keptessentially stationary, while an entire pattern imparted to theradiation beam is projected onto a target portion C at one time (i.e. asingle static exposure). The substrate table WT is then shifted in the Xand/or Y direction so that a different target portion C can be exposed.In step mode, the maximum size of the exposure field limits the size ofthe target portion C imaged in a single static exposure.

2. In scan mode, the mask table MT and the substrate table WT arescanned synchronously while a pattern imparted to the radiation beam isprojected onto a target portion C (i.e. a single dynamic exposure). Thevelocity and direction of the substrate table WT relative to the masktable MT may be determined by the (de-)magnification and image reversalcharacteristics of the projection system PS. In scan mode, the maximumsize of the exposure field limits the width (in the non-scanningdirection) of the target portion in a single dynamic exposure, whereasthe length of the scanning motion determines the height (in the scanningdirection) of the target portion.

3. In another mode, the mask table MT is kept essentially stationaryholding a programmable patterning device, and the substrate table WT ismoved or scanned while a pattern imparted to the radiation beam isprojected onto a target portion C. In this mode, generally a pulsedradiation source is employed and the programmable patterning device isupdated as required after each movement of the substrate table WT or inbetween successive radiation pulses during a scan. This mode ofoperation can be readily applied to maskless lithography that utilizes aprogrammable patterning device, such as a programmable mirror array of atype as referred to above.

Combinations and/or variations of the above described modes of use orentirely different modes of use may also be employed.

As described above, imaging a pattern onto a substrate W is usually donewith optical elements, such as lenses or mirrors. In order to generate asharp image, a layer of resist on the substrate W should be in or nearthe focal plane of the optical elements. Therefore, according to theprior art, the height of the target portion C that is to be exposed ismeasured. Based on these measurements, the height of the substrate Wwith respect to the optical elements is adjusted, e.g. by moving thesubstrate table WT on which the substrate W is positioned. Since asubstrate W is not a perfectly flat object, it may not be possible toposition the layer of resist exactly in the focal plane of the opticsfor the whole target portion C, so the substrate W may only bepositioned as well as possible.

In order to position the substrate W in the focal plane as well aspossible (e.g. by matching the focal plane to the center of the resistthickness), the orientation of the substrate W may also be altered. Thesubstrate table WT may be translated, rotated or tilted, in all sixdegrees of freedom, in order to position the layer of resist in thefocal plane as well as possible. This is typically done for all targetportions C, but it is especially desirable for the target portionssituated on the edge of the substrate, since these target portions C areusually slanting, due to the presence of the edge.

In order to determine the best positioning of the substrate W withrespect to the optical elements, the surface of the substrate W may bemeasured using a level sensor, as for instance described in U.S. Pat.No. 5,191,200. This procedure may be done during exposure (on-the-fly),by measuring the part of the substrate W that is being exposed or isnext to be exposed, but the surface of the substrate W may also bemeasured in advance. This latter approach may also be done at a remoteposition. In the latter case, the results of the level sensormeasurements may be stored in the form of a so-called height map orheight profile and used during exposure to position the substrate W withrespect to the focal plane of the optical elements.

In both cases, the top surface of the substrate W may be measured with alevel sensor that determines the height of a certain area. This area mayhave a width about equal to or greater than the width of the targetportion C and may have a length that is only part of the length oftarget portion C, as is shown in FIGS. 3 a and 3 b, which will beexplained below (the area being indicated with the dashed line). Theheight map of a target portion C may be measured by scanning the targetportion C in the direction of the arrow A. The level sensor LSdetermines the height of the substrate W by applying a multi-spotmeasurement, such as for instance a 9-spot measurement. Level sensorspots LSS are spread over the area and, based on the measurementsobtained from the different level sensor spots, height data may becollected.

The term “height” as used here refers to a direction substantiallyperpendicular to the surface of the substrate W, i.e. substantiallyperpendicular to the surface of the substrate W that is to be exposed.The measurements of a level sensor result in height data, comprisinginformation about the relative heights of specific positions of thesubstrate W. This may also be referred to as a height map.

Based on this height data, a height profile may be computed, forinstance by averaging corresponding height data from different parts ofthe substrate (e.g. height data corresponding to similar relativepositions within different target portions C). In case suchcorresponding height data is not available, the height profile isequated to the height data.

Based on height data or a height profile, a leveling profile may bedetermined to provide an indication of an optimal positioning of thesubstrate W with respect to a projection system PS. Such a levelingprofile may be determined by applying a linear fit through (part of) theheight data or the height profile, e.g. by performing a least squaresfit (three dimensional) through the points that are inside the measuredarea.

As explained above, accurate leveling may require measuring the shapeand topography of the substrate, for instance using a level sensor,resulting in height data of (at least part) of the substrate W, based onwhich a leveling profile can be determined. Such a leveling profile mayrepresent the optimal position of the substrate W with respect to theprojection system PS, taking into account the local shape and height ofthe substrate W. First, the level sensor is explained in more detail.

Leveling

The level sensor measures heights of substrates W or of areas on thesubstrate table WT to generate height data. A surface, of which theheight is to be measured, is brought in a reference position and isilluminated with a measurement beam of radiation. The measurement beamof radiation impinges on the surface to be measured under an angle whichis less than 90°. Because the angle of incidence is equal to the angleof reflection, the measurement beam of radiation is reflected back fromthe surface with the same angle to form a reflected beam of radiation.The measurement beam of radiation and the reflected beam of radiationdefine a measurement plane. The level sensor measures the position ofthe reflected beam of radiation in the measurement plane.

If the surface is moved in the direction of the measurement beam ofradiation and another measurement is done, the reflected beam ofradiation is reflected in the same direction as before. However, theposition of the reflected beam of radiation has shifted the same way thesurface has been moved.

In FIG. 2, a part of the measurement station region of the lithographicapparatus is shown. The substrate W is held on the substrate table WT.The substrate table WT is connected to actuators 23 that may be part ofthe second positioner PW (not shown in FIG. 2). These actuators 23 areconnected to a control device 6 with a processor 8 and a memory 10. Theprocessor 8 further receives information from position sensors 25measuring the actual position of the substrate table WT or substratetable holder by electric (capacitive, inductive) or optical, e.g.interferometric (as shown in FIG. 1) devices. The processor 8 alsoreceives input from a level sensor LS which measures the height and/ortilt information from the target area C on the substrate W where theprojection beam PB hits the substrate surface. Preferably, the controldevice 6 is connected to a reporting system 9, which may comprise a PCor a printer or any other registration or display device.

The level sensor LS may be, for example, an optical sensor as describedhere; alternatively, a pneumatic or capacitive sensor (for example) isconceivable. The level sensor LS should preferably measure the verticalposition of one or more very small areas (level sensor spots LSS of e.g.1.5 mm (e.g. 2.8×2.5 mm) of the substrate W to generate height data. Thelevel sensor LS shown in FIG. 2 comprises a light source 2 for producinga light beam 16, projection optics (not shown) for projecting the lightbeam 16 onto the substrate W, detection optics (not shown) and a sensoror detector 15. The detector 15 generates a height-dependent signal,which is fed to the processor 8. The processor 8 is arranged to processthe height information and to construct a measured height map. Such aheight map may be stored by the processor 8 in the memory 10 and may beused during exposure.

According to an alternative, the level sensor 15 may be an opticalsensor making use of Moiré patterns formed between the image of aprojection grating reflected by the substrate surface and a fixeddetection grating, as described in U.S. Pat. No. 5,191,200. It may bedesirable for the level sensor 15 to measure the vertical height of aplurality of positions simultaneously and/or to measure the averageheight of a small area for each position, to average non-flatness (orunflatness) of high spatial frequencies.

The embodiments described here may of course also be used for othertypes of level sensors, such as air gauges. An air gauge, as will beknown to a person skilled in the art, determines the height of asubstrate W by supplying a gas flow from a gas outlet to the surface ofthe substrate W. Where the surface of the substrate W is high, i.e. thesurface of the substrate W is relatively close to the gas outlet, thegas flow will experience a relatively high resistance. By measuring theresistance of the flow as a function of the spatial position of the airgauge above the substrate W, a height map of the substrate W can beobtained. A further discussion of air gauges may be found in EP0380967.

According to an alternative, a scanning needle profiler is used todetermine a height map of the substrate W. Such a scanning needleprofiler scans the height map of the substrate W with a needle, whichalso provides height information.

In fact, all types of sensors may be used that are arranged to performheight measurements of a substrate W, to generate height data.

The level sensing method uses at least one sensing area and measures theaverage height of a small area, referred to as a level sensor spot LSS.According to an embodiment, the level sensor may simultaneously apply anumber of measurement beams of radiation, creating a number of levelsensor spots LSS on the surface of the substrate W. As shown in FIG. 3a, the level sensor may for instance create nine level sensor spots LSSin a row. The level sensor spots LSS scan the area of the substrate W tobe measured (for instance target portion C), by moving the substrate Wand the level sensor relatively with respect to each other, indicatedwith arrow A (scanning direction).

Depending on the position of the level sensor spot LSS on the substrateW, a selection mechanism selects the level sensor spot or spots LSS,which are applicable to derive height data from a measured target areaC. Based on the selected level sensors spots LSS, a level profile may becomputed. This will be further explained with reference to FIGS. 3 a-3b.

As can be seen in FIG. 3 a, not all of the nine level sensor spots LSSfall within the target portion C, i.e. the area on which a pattern is tobe imaged. The level sensor spots LSS that fall outside the targetportion C are marked with an “x” in FIG. 3 a. These level sensor spotsLSS are not taken into account when determining the level profile. Thelevel sensor spots LSS that fall outside the target portion C are nottaken into account as their readings may be influenced by the topographyof scribe lanes (comprising alignment marks and the like) or thetopography of neighboring target portions C, which do not represent thetopography of the target portion C on which imaging is to be performed.

FIG. 3 b schematically depicts a target portion C of the substrate Wnear the edge of the substrate W. Again, level sensor spots LSS that arenot taken into account, are marked with an “x” in FIG. 3 b. Since thesubstrate W has a rounded shape and the target portions C are formed asrectangles, the target portions C situated near the edge are not allcompletely on the substrate W. When height data of such a substrate W isdetermined by the level sensor (for instance, by scanning a targetportion C) the height data cannot be determined with sufficientaccuracy. When the measurement area of the level sensor is moved in thedirection of the parallel arrows in FIG. 3 b, several level sensor spotsLSS are partially or totally outside the surface of the substrate W, andcorrect measurements are not possible. The substrate heightdetermination for target portion C can then be qualitatively poor, dueto improper coverage of the target portion C with level sensor spotsLSS, or may even fail if the combination of level sensor spotmeasurements available is less than required. Especially thedetermination of the tilt of the target portion C may fail or bequalitatively bad when a combination of level sensor spots of the levelsensor projected onto the substrate W is less than required.

As described above, some level sensor spots LSS fall outside thesubstrate W and are therefore not considered. Also, some level sensorspots LSS fall inside the so-called focus edge clearance area (FEC-area)along the edge of the substrate W. These level sensor spots LSS are alsonot taken into account. The level sensor spot LSS in the middle is validduring the first part of the scan, i.e. until it reaches the FEC-area.Only the two level sensor spots LSS to the right of the level sensorspot LSS in the middle will generate useful height data for the completescan of the target portion C.

The FEC-area is a term known to a person skilled in the art. If levelsensor spots LSS touch the FEC, they are switched off and are not usedfor leveling. The FEC-area is an area along the edge of a substrate fromwhich (part of the) resist is removed, that was applied to the substratefor instance using spin-coating techniques. As a result, there is no orless resist left in this area. For a substrate with a diameter of 150mm, the FEC may typically be the area within 3 mm from the edge of thesubstrate W.

Based on the above two examples of FIGS. 3 a and 3 b, it will beunderstood that according to the prior art, leveling is done using onlylevel sensor spots LSS that:

1) fall entirely within the target portion C and

2) do not fall within the FEC area.

The reason that no level sensor spots LSS outside the target portion Care used is that they may fall on areas that are not exposed (in thesame exposure of this target portion C), which may show sudden heightjumps due to product topography. This is valid for on-the-fly basedleveling systems as well as dual stage systems.

In order to perform successful level measurements, a minimum amount ofheight data is required. For instance, according to specific qualityrequirements, at least three adjacent rows of level sensor spots LSSeach with at least two valid level sensor spots LSS are required. Thisis the so-called 2×3 configuration.

According to some implementations in the prior art, if not enough validlevel sensor spots LSS can be found, the system may use global levelcontour set points to determine tilt and/or height determined from aglobal level contour (GLC) already described above. The GLC does notprovide local information, but describes a wedge around the edge.

According to some of those prior art implementations, the height map ofparts of the substrate W that cannot be measured accurately with thelevel sensor may also be constructed by extrapolation of the height mapof neighboring areas that could still be measured accurately. Theseneighboring areas may be neighboring target portions C, but may also beparts of the same target portion C that could still be measuredaccurately. Since a substrate W usually exhibits a curvature towards theedge of the substrate W which may be different for different positionsalong the edge of the substrate W, it is possible that the height mapwill not be determined accurately by using global level contourinformation or sheer extrapolation of the height map determined foradjacent areas.

FIG. 4 a schematically depicts a target portion C for which no validlevel sensor spots LSS can be obtained. It is to be understood that asingle target portion C may comprise a plurality of products. So,although the target portion C as shown in FIG. 4 falls outside thesubstrate W for a large extent, the small amount of the target portion Cthat is within the substrate W may still comprise one or more productsfor which a successful imaging is desirable. Using the fallbackstrategies provided according to some of the prior art is relativelyinaccurate and may lead to relatively many defective products.

FIG. 4 b depicts a similar situation. Whereas FIG. 4 a illustrates asituation in which the scan direction of the level sensor spots LSS issubstantially along the edge of the substrate W, FIG. 4 b schematicallydepicts a situation in which the scan direction of the level sensorspots LSS is substantially perpendicular to the edge of the substrate W.Again, there are no level sensor spots LSS that fall within the targetportion C and do not fall within the FEC area.

FIG. 6 schematically depicts a cross-sectional view of two adjacenttarget portions: an inner target portion C1 and an edge target portionC2 (the vertical dashed line indicates the border between the innertarget portion C1 and the edge target portion C2). The cross-sectionalview is taken in the x-direction (so the viewing direction is in they-direction, i.e. the scan direction (measurement direction) of thelevel sensor LS). The vertical line indicates the edge of the FEC areain the edge target portion C2.

FIG. 6 schematically depicts five level sensor spots LSS for the innertarget portion C1 that:

1) fall entirely within the target portion C1 and

2) do not fall within the FEC area.

It will be understood that for an inner target portion C1, no specialcorrection scheme needs to be applied. Based on the height datagenerated by the level sensor spots LSS that fall inside the targetportion C1, a leveling profile LP1 may be computed, which is depicted inFIG. 6.

FIG. 6 also schematically depicts only one level sensor spot LSS for theedge target portion C2 that:

1) falls entirely within the target portion C2 and

2) does not fall within the FEC area.

Since height data of only one level sensor spot LSS may not be accurateenough, additional height data from a further level sensor spot FLSS maybe used that:

1) falls outside the target portion C2 and

2) does not fall within the FEC area.

This further level sensor spot FLSS is indicated in FIG. 6 with thedashed line. It can be seen that in case a second leveling profile LP2is computed based on these two level sensor spots LSS, FLSS, this secondlevel profile LP2 is fundamentally wrong and does not represent thetopography of the edge target portion C2 that does not fall within theFEC area.

EMBODIMENTS

According to the embodiments described here, a method for leveling isprovided, that also uses height data from an area of the substrate Wthat is outside the target portion C, i.e. which is not to be exposed inthe same exposure/time as this target portion C is exposed. Thus, heightdata corresponding to at least part of the substrate W outside thetarget portion C is used for leveling. Thus, also level sensor spots LSSare taken into account that:

1) fall outside the target portion C and

2) do not fall within the FEC area.

These level sensor spots LSS provide additional height data, based onwhich an additional height profile may be determined. It is known thatthe additional height data was considered unreliable as this additionalheight data is disturbed by height jumps, due to the presence of scribelanes or topographic discontinuities of the topography of the part ofthe substrate that is not to be exposed. In fact, this additional heightdata was considered unreliable by the mere fact that it relates to anarea of the substrate W that is not being exposed in the same exposure.

However, according to the embodiments, a correction scheme is proposedto correct for this error. It is to be noted that this error only occurswhen not all inner level sensor spots (falling within the target portionC) are valid.

The correction scheme is based on the fact that the error of theadditional height data obtained with respect to an edge target portion Ccan be predicted, based on height data obtained with the level sensor LSon inner target portions C, i.e. target portions C for which enoughheight data from inside the target portion C and outside the FEC area ispresent and therefore, no additional height data is to be used in orderto perform accurate leveling for these inner target portions C.Therefore, based on the inner target portions C, it is possible todetermine correction heights Δh for the additional height data bycomparing and storing their offsets with respect to a level profilebased on the height data from inside the target portion C. By doingthis, the correction heights may be used to correct errors of theadditional height data obtained for the edge target portions C.

By applying the correction scheme to correct for the error of theadditional height data, it is possible to correct for the inherenttopography of the substrate W, for instance caused by the presence ofscribe lanes or product topography of neighboring target portions C.This correction can be determined based on similar level sensor readingsobtained from target portions C for which no correction scheme isnecessary.

The rationale is that the use of the additional height data incombination with the correction scheme is more reliable than prior artsolutions (such as GLC) even though the additional height data isobtained from level sensor measurements falling (partly) outside thetarget portion C. As can be seen in FIGS. 5 a and 5 b, additional heightdata from additional level sensor spots LSS are used as compared toFIGS. 4 a and 4 b. FIGS. 5 a and 5 b are similar to FIGS. 4 a and 4 brespectively, except for the fact that additional height data fromadditional level sensor spots LSS is also used. The level sensor spotsLSS from which the height data is ignored are indicated with an “x.” Theadditional height data is obtained from level sensor spots LSS in thex-direction, typically required for fields at 3 and 9 o'clock (FIGS. 4 aand 5 a), and in the y-direction, typically for the fields at 6 and 12o'clock (FIGS. 4 b and 5 b).

A situation without the correction scheme is sketched with reference toFIG. 6 and was explained above. Here the second level profile LP2 asdetermined is obviously wrong for the edge target portion C. In FIG. 7,when a correction scheme is applied with this correction, the levelingprofile as determined for the edge target portion C is improved (thedashed line indicates the border between the inner target portion C1 andthe edge target portion C2).

Correction Scheme

The correction scheme will now be described by way of example. First adescription for situations in which the scan direction is substantiallyparallel with the edge of the substrate W will be provided(x-direction). Secondly, a description for situations in which the scandirection is substantially perpendicular to the edge of the substrate Wwill be provided (y-direction). However, it will be understood that theembodiments may be performed on all kinds of target portions (C) lyingall around the edge of the substrate W and are not restricted to the3/6/9/12 o'clock positions.

Of course, it will be understood that the layout of the level sensorspots LSS may be different from the layout shown in the Figures.Furthermore, independent of the layout of the level sensor spots LSS,level sensor spots LSS may be positioned in any direction andconfiguration with respect to each other, inside and outside the targetportion C. Therefore, level sensor spots LSS may lie in any direction.Also, the level sensor spots are not necessarily positioned in astraight line with respect to each other.

X-Direction

Similar to FIG. 6, FIG. 7 schematically depicts a cross-sectional viewof two adjacent target portions: inner target portion C1 and edge targetportion C2. The cross-sectional view is taken along the x-direction, sothe viewing direction is in the scan direction (measurement direction)of the level sensor LS (i.e. the y-direction). The solid vertical lineindicates the edge of the FEC area in the edge target portion C2.

The first level profile LP1 is determined in the same way as describedwith reference to FIG. 6, based on height data obtained from five (byway of example) level sensor spots LSS for the inner target portion C1that:

1) fall entirely within the target portion C1 and

2) do not fall within the FEC area.

Based on the height data, a height and tilt profile may be computed(e.g. by averaging height and tilt data from different target portions)and the first leveling profile LP1 may be computed, which was alreadydepicted in FIG. 6. However, at the same time, one or more correctionheights Δh are computed by comparing the additional height data (or theadditional height profile) to the first level profile LP1 (extrapolatedto the area from which the additional height data were obtained). Thecorrection heights Δh are stored. One such correction height Δh isschematically depicted in FIG. 7.

As described above with reference to FIG. 6, for the edge target portionC2 additional height data may be used from further level sensor spotsFLSS that:

1) fall outside the target portion C2 and

2) do not fall within the FEC area.

This further level sensor spot FLSS is indicated in FIG. 7 with thedashed line. It can be seen that the further level sensor spot FLSScorresponds to the additional level sensor spot ALSS. Now, beforecomputing a level profile, the correction height Δh is used to computecorrected height data that is corrected for topology induced errors. Bycorrecting the additional height data with the correction height Δh, athird level profile LP3 may be computed at least partially based on thecorrected height data. This level profile LP3 is more accurate than thesecond leveling profile LP2 described with reference to FIG. 6.

It will be understood that the third level profile LP3 may be a fitthrough the available height data, so in the situation shown in FIG. 7through the additional height data from the further level sensor spotFLSS and the height data from the level sensor spot LSS. As a result,the third level profile LP3 may have a different slope compared to thefirst level profile LP1.

It is to be understood that applying the correction height Δh onlycorrects for topology induced errors, but does not correct for a localshape of the substrate W at that particular area of the substrate W.This particular local shape may play a relatively important role nearthe edge of the substrate W, as substrates W usually show a specificshape towards the edge of the substrate W, which may be different fordifferent areas along the edge of the substrate W.

It will be understood that different correction heights Δh may be usedfor different relative positions with respect to the target portion C.

According to an alternative, the correction heights Δh are not based onmeasurements performed for a single target portion C, but may becomputed by averaging measurements obtained with respect to a pluralityof target portions C, resulting in so-called height profiles. Theplurality of target portions C may be from a single substrate or fromdifferent substrates W, for instance from a similar batch of substratesW.

According to a further alternative, not just a single correction heightΔh is applied to correct just a single additional height data from asingle level sensor spot LSS (as shown in the FIG. 7) for a specificscanning position in the y-direction. According to an embodiment, alsotwo, three or more correction heights Δh may be used to correct two,three or more additional level sensor readings in the x-direction (seeFIG. 7).

Y-Direction

An alternative embodiment will be explained with reference to FIG. 9,that may be used for applying a correction scheme for edge targetportions C for which the scan direction of the level sensor LS issubstantially perpendicular to the edge of the substrate W (6 and 12o'clock positions), already discussed with reference to FIGS. 4 b and 5b.

FIG. 9 shows a target portion C. Also indicated (with dashed lines) isthe contour of the exposure slit SL used for exposure. FIG. 9 furthershows six y-gridlines of the level sensor, each gridline comprising ninelevel sensor spots LSS. As can be seen in the FIG. 9, according to theexample shown here, the exposure slit SL has a length (in they-direction) of six y-gridlines of the level sensor LS.

FIG. 9 depicts the situation in which the exposure slit is partially(e.g. 50%) within the target portion C and partially (e.g. 50%) outsidethe target portion seen in the y-direction. This position of the slit SLmay be chosen as a starting point to compute correction heights Δh thatmay be used in situations as shown in FIG. 4 b and 5 b.

FIG. 9 shows that three y-grid lines (the top three grid lines) fallinside the target portion C. However, according to this embodiment, alsothe three y-grid lines that fall outside the target portion C are takeninto account. The height data produced by these level sensor spots LSSis referred to as additional height data.

First measurements are performed for at least one inner target portionC, using height data from the level sensor spots LSS readings for thethree y-gridlines within the target portion C as shown in FIG. 9.

As indicated with the “x” designations, the level sensor spots LSSoutside the outline of the target portion C in the x direction are nottaken into account.

Based on the readings of the level sensor spots LSS, a height profile iscomputed using all level sensor spots LSS from inside the target portionC (in this case: 15 level sensor readings (3 times 5)). The heightprofile may be computed by averaging corresponding level sensor spotsreadings from a plurality of target portions C, resulting in an averagedheight profile.

Based on the determined height profile, a focus fit, such as a linearfocus fit or a least squares focus fit may be computed, resulting in afourth level profile LP4, being an indication of the correct positioningof the substrate W with respect to the projection system PS for thatparticular position of the slit SL.

In a next action, an additional height profile is determined based onthe level sensor spot readings from outside the target portion C, butwithin the slit SL as depicted in FIG. 9.

In a next action, the fourth level profile LP4 (which is a plane) isextrapolated into the area of the additional height profile. Next, theextrapolated fourth level profile LP4 is compared to the height profileof the additional height profile. This results in a set of correctionheights Δh, by comparing the extrapolated fourth level profile LP4 tothe additional height profile. The correction heights Δh are stored.

When leveling of an edge target portion C is to be performed, for whichnot enough level sensor spots:

1) fall entirely within the target portion C1 and

2) do not fall within the FEC area,

readings of the additional level sensor spots ALSS may be used. Thereadings of these additional level sensor spots ALSS may be used, bycorrecting these readings using the previously stored correction heightsΔh. So, before computing a level profile, the correction heights Δh areused to compute a corrected level sensor spot CLSS that is corrected forerrors, such as topology induced errors, or other errors, such asprocess dependent level sensor errors. By correcting the readings of theadditional level sensor spots ALSS with the correction heights Δh, afifth level profile LP5 may be computed that is more accurate.

The fifth level profile LP5 is an independent fit through the available(corrected) height data, so it may be different from the slope of thefourth level profile LP4.

Again, it is to be understood that applying the correction heights Δhonly corrects for topology induced errors, but the local shape of thesubstrate W at that particular area of the substrate W is still takeninto account. This particular local shape may play a relativelyimportant role near the edge of the substrate W, as substrates W usuallyshow a specific shape towards the edge of the substrate W.

According to an alternative, the correction heights Δh are not based onmeasurements performed for a single target portion C, but may becomputed by averaging measurements obtained from a plurality of targetportions C from a single substrate or from different substrates W, forinstance from a similar batch of substrates W.

This embodiment is applicable for 12 o'clock target portions as well asfor 6 o'clock target portions.

Control Device

It will be understood that the embodiments described here may beperformed by the control device 6, comprising the processor 8 and thememory 10 as explained above with reference to FIG. 2. The memory 10 maycomprise a computer program with code that is readable and executable bythe processor 8 to perform the embodiments described here.

The processor 8 may be arranged to control the level sensor LS and thesecond positioner PW to perform leveling measurements of target portionsC of the substrate W. Also information is received from the positionsensors 25 used to link the height information received from the levelsensor LS to a specific x,y position of the substrate W.

The level sensor readings are stored in memory 10, including thereadings of level sensor spots that are within the target portion C andnot inside the FEC area, but also including at least some of the levelsensor spots LSS that are outside the target portion C and outside theFEC area.

X-Direction Flow Diagram

According to an embodiment, the processor 8 is arranged to control thelevel sensor LS and the second positioner PW in such a way that theactions according to FIGS. 8 and 10 are performed. An example of suchactions is schematically depicted in FIG. 8. For each action, the levelsensor spots LSS are indicated that are used for that specific action.According to this example, it is assumed that all nine level sensorspots LSS are numbered from 1-9, where numbers 1, 2, 8, 9 are outsidethe target portion C and the FEC area, and numbers 3, 4, 5, 6, 7 areinside the target portion C.

In a first action 101, the level sensor measurements are performed byscanning one or more target portions C with the level sensor LS. In anext action 102, a height profile is computed for all level sensor spotswithin the target portion C (e.g. i=3, 4, 5, 6, 7). In a next action103, an additional height profile is computed for at least one levelsensor spot LSS outside the target portion C (e.g. i=1, 2, 8, 9).

The height profile may be computed based on at least one inner targetportion C1 and may be a continuous function of y or may comprisediscrete height values for certain values of y (i.e. number ofy-gridlines).

The inner target portions C1 may be target portions C1 with the maximumnumber of level sensor spots LSS that are inside the target portion Cand outside the FEC area and have a maximum number of y-gridlines(rows). This height profile may be computed for each level sensor spotinside the target portion C. The additional height profile may becomputed for at least one level sensor spot LSS outside the targetportion C.

The height profile and the additional height profile may be obtained byaveraging corresponding measurements of different target portions C.

In a further action 104, the processor 8 determines a focal fit (e.g. alinear fit) based on the height profile. This focal fit represents theoptimal positioning of the substrate W with respect to the projectionsystem PS, i.e. a focal plane of the projection system PS ideallycoincides with this focal fit during exposure of that particulary-gridline. This focal fit may be extrapolated into the area of theadditional height profile.

In a further action 105, the processor 8 determines correction heightΔh_(i) (e.g. i=1, 2, 8, 9) for the level sensor spots LSS that falloutside the inner target portions C1. This may be done by comparing theextrapolated height profile with the focal fit. Subtracting therespective values results in correction heights (e.g. i=1, 2, 8, 9) forthe level sensor spots LSS that may be stored in memory 10, for useduring exposure of edge target portions C2.

However, for edge target portions C2, or parts of edge target portionsC2 for which not enough level sensor spots LSS are available from insidethe target portion C and outside the FEC area, the processor 8 may alsoor only use additional level sensor spots LSS falling outside the edgetarget portion C2 and outside the FEC area and first apply therespective correction height Δh_(i) (e.g. i=1, 2, 8, 9) for theseadditional level sensor spots LSS.

Y-Direction Flow Diagram

A similar approach is provided for an edge target portion C in which thescanning direction of the level sensor LS is substantially perpendicularto the edge of the substrate W, as for instance shown in FIGS. 4 b and 5b (according to the depicted embodiments also referred to as 6 and 12o'clock target portions C). Actions that may be performed by processor 8are depicted in FIG. 10 and described in more detail below. In FIG. 10,for each action, the level sensor spots LSS are indicated that are usedfor that specific action. According to this example, it is assumed thatall nine level sensor spots LSS are numbered from 1-9, where numbers 1,2, 8, 9 are outside the target portion C and the FEC area, and numbers3, 4, 5, 6, 7 are inside the target portion C and outside the FEC area.Also, as depicted in FIG. 10, 6 y-gridlines of the level sensor areshown, number j=1, 2, 3, 4, 5, 6, where j=1, 2, 3 fall outside thetarget portion C and j=4, 5, 6 fall inside the target portion C.

In a first action 201, similar to action 101, the processor 8 isarranged to perform level sensor measurements for inner target portionsC. All level sensor spots LSS may be used, however, according to thesituation depicted in FIG. 9, only numbers i=3, 4, 5, 6, 7 are used(corresponding to the width of the target portion in the x-direction).

In a next action 202, the processor 8 is arranged to compute a heightprofile for the level sensor spots that are within the target portion C(j=4, 5, 6). The height profile may be computed based on at least oneinner target portion C and may be a continuous function of x, y or maycomprise discrete values for certain values of x and y (i.e. threey-gridlines). The height profile may be computed by averagingmeasurement readings associated with different target portions C.

In a next action 203, the processor 8 is arranged to compute anadditional height profile for the level sensor spots that are outsidethe target portion C (i=3, 4, 5, 6, 7 and j=1, 2, 3,). The additionalheight profile may be computed based on at least one inner targetportion C and may be a continuous function of x, y or may comprisediscrete values for certain values of x and y (i.e. three y-gridlines).The additional height profile may be computed by averaging measurementreadings associated with different target portions C.

In a further action 204, a fourth level profile LP4 may be computed,being a linear focus fit through the height profile. For this fourthlevel profile LP4, only the height profile of the three grid-lines thatfall within the target portion C is taken into account (j=4, 5, 6).

In a next action 205, the fourth level profile LP4 is extrapolated intothe area of the three other y-gridlines (j=1, 2, 3) that fall outsidethe target portion C. In a next action 206, correction heights arecomputed, resulting in a set of correction heights Δh, by comparing theextrapolated fourth level profile LP4 to the readings of the additionalheight profile for these three gridlines that fall outside the targetportion C. These correction heights Δh are stored in memory 10.

The examples described above with reference to FIGS. 9 and 10 are basedon the assumption that the first focal fit is determined based on aposition in which the slit overlaps with the target portion C for 50%.However, other slit positions and/or other slit sizes may be used. Also,non-linear slit fits may be used, such as parabolic shapes instead ofplanar shapes. In fact, all kinds of fits may be used.

Further Embodiment

According to the embodiments provided above, the predeterminedcorrection heights Δh are used to compute corrected height data forheight data corresponding to at least one area of the at least part ofthe substrate W that is located outside of the target portion C.However, according to a further embodiment, a similar correction schememay be used to correct height data obtained from within the targetportion C. This will be explained below.

Similar to FIG. 6, FIGS. 11 a and 11 b schematically depict across-sectional view of two adjacent target portions: an inner targetportion C1 and an edge target portion C2 (the vertical dashed lineindicates the border between the inner target portion C1 and the edgetarget portion C2). The cross-sectional view is taken in the x-direction(so the viewing direction is in the y-direction, i.e. the measurementdirection of the level sensor LS). The vertical line indicates the edgeof the FEC area in the edge target portion C2.

FIGS. 11 a and 11 b schematically depict five level sensor spots LSS forthe inner target portion C1 that:

1) fall entirely within the target portion C1 and

2) do not fall within the FEC area.

It will be understood that for an inner target portion C1, no specialcorrection scheme needs to be applied. Based on the height datagenerated by the level sensor spots LSS that fall inside the targetportion C1, a leveling profile LP1 may be computed, which is depicted inFIGS. 11 a and 11 b.

FIGS. 11 a and 11 b also schematically depict two level sensor spots LSSfor the edge target portion C2 that:

1) fall entirely within the target portion C2 and

2) do not fall within the FEC area.

In principle, two level sensor spots LSS may be enough to compute aleveling profile LP4 as shown in FIGS. 11 a and 11 b. However, theleveling profile LP1 for the inner target portion C1 differs fromleveling profile LP4 of the edge target portion C2. This may be anunwanted situation, as a user of a lithographic apparatus may prefersimilar or identical leveling for all target portions C, to ensure aconstant and reliable quality of the products. This may be achieved bycomputing correction heights Δh for level sensor spots LSS that fallwithin the target portion C and use these to correct height dataobtained for the edge target portion C2.

Correction heights Δh for the level sensor spots LSS within the targetportion C may be obtained by computing the difference between a levelprofile LP1 for an inner target portion C1 and the respective heightdata as measured by the level sensor spot LSS. These correction heightsΔh may be computed using height data from a single inner target portionC1, but may also be computed using a height profile, by averaginginformation from a plurality of inner target portions C1. Also, thelevel profile LP1 may be an averaged level profile, based on height dataobtained from more than one target portion C.

The correction heights Δh for the level sensor spots LSS within thetarget portion C are schematically shown in FIG. 11 b. These correctionheights Δh are used to compute corrected height data for the height dataof the edge target portion C2, based on which a level profile LP5 may becomputed that is similar to the level profile LP1 of the inner targetportion C1. However, it will be understood that the level profile LP5 isnot necessarily identical to the level profile LP1 obtained with respectto the inner target portion C1. The edge target portion C2 does takeinto account possible deviations of the shape of the substrate W nearthe edge with respect to inner areas. This information is taken intoaccount by the height data as obtained by the level sensor spots LSS.

It will be understood that this embodiment of applying correctionheights Δh to height data from within a target portion may also be usedin combination with embodiments described above. For instance, in orderto perform leveling on edge target portions C2, height data from outsidethe target portion C2 may be used and corrected using correction heightsΔh and height data from within the target portion C2 may be used andcorrected using correction heights Δh.

It will also be understood that this embodiment may be employed forfields at 3 and 9 o'clock positions (described above with reference toFIGS. 4 a and 5 a), and in the y-direction, typically for fields at 6and 12 o'clock positions (described above with reference to FIGS. 4 band 5 b). However, it will be understood that this embodiment may beperformed on all kinds of target portions (C) lying all around the edgeof the substrate W and is not restricted to the 3/6/9/12 o'clockpositions.

Furthermore, it will be understood that the flow diagrams describedabove with respect to FIGS. 8 and 10 may easily be adapted by changingthe appropriate values for i and j in the different actions.

Of course, it will be understood that the layout of the level sensorspots LSS may be different from the layout shown in the Figures.Furthermore, independent of the layout of the level sensor spots LSS,level sensor spots LSS may be positioned in any direction andconfiguration with respect to each other, inside and outside the targetportion C. Level sensor spots LSS therefore may lie in any direction.Also, the level sensor spots are not necessarily positioned in astraight line with respect to each other.

Further Remarks

According to the description of the embodiments above, correctionheights are used to correct height data as measured by level sensorspots LSS from within or outside a target portion C. Differentstrategies may be used for a single target portion C. For instance, on afirst part of a target portion C, no correction heights Δh may be used,where on a second part of the target portion C height data from outsidethe target portion C may be used and corrected using correction heightsΔh. According to an alternative, on a first part of a target portion C,correction heights Δh may be used on height data from within the targetportion C, where on a second part of the target portion C height datafrom outside and inside the target portion C may be used and correctedusing correction heights Δh. In fact many variations can be conceived.For the first part of the target portion C the following possibilitiescan be listed:

1. No correction,

2. Correction using correction heights Δh inside the target portion,

3. Correction using correction heights Δh outside the target portion,and

4. Correction using correction heights Δh inside and outside the targetportion.

For the second part of the target portion C the same possibilities canbe listed:

1. No correction,

2. Correction using correction heights Δh inside the target portion,

3. Correction using correction heights Δh outside the target portion,and

4. Correction using correction heights Δh inside and outside the targetportion.

Also, the target portion C may be divided into more than two parts. Forthe third, fourth, etc. parts, the same options can be listed. In fact,different options can be employed for different grid lines of the levelsensor LS. All kinds of combinations are possible.

FIGS. 12 a and 12 b schematically show an implementation of theembodiments described above. As shown in FIG. 12 a, an edge targetportion C3 is depicted that is on a position in between the twelveo'clock and three o'clock position. Each hatched dot corresponds to avalid level sensor measurement, whereas an open dot denotes an invalidlevel sensor measurement.

FIG. 12 a shows that on a first part of the target portion C3 (below thehorizontal line) per y-gridline two valid level sensor measurements areavailable, so local information may be used for leveling. In a secondpart of the target portion C3 (above the horizontal line), only onevalid level sensor measurement is available per y-gridline.

Therefore, it will be understood that the different strategies describedin the embodiments above may not necessarily be employed on targetportions as a whole, but that different strategies may be employed ondifferent parts of a target portion C.

FIG. 12 b depicts the same target portion as FIG. 12 a, in which it isschematically depicted that in the first part of the target portion C3,leveling is performed using the height data obtained from within thetarget portion C3, possibly applying correction heights Δh as describedin the embodiment described above with reference to FIGS. 11 a and 11 b.In the second part of the target portion C3, leveling is performed usingheight data from outside the target portion C3 and applying correctionheights Δh, as is schematically depicted by the additional level sensorspots ALLS.

The best strategy or combination of strategies may be decided on acase-by-case basis, i.e. for each target portion C, the available heightdata and correction heights may be evaluated and the best way of usingthe available information may be decided.

It will be understood that it is not necessary to “switch on” entirerows or columns of additional level sensor spots LSS. The decision toswitch on additional level sensor spots LSS can be made per individualgridline. The need-per-gridline is based on the number of valid levelsensor spots LSS, for instance, if one or zero valid level sensor spotsLSS are available for a certain gridline, additional level sensor spotsLSS may be switched on, possibly in combination with the use ofcorrection heights Δh.

The correction heights Δh may be used for leveling edge target portionsC. For edge target portions C, not enough valid level sensors spots LSSmay be present inside the target portion C, so level sensors spots LSSoutside the target portions are used. These level sensor spots LSS havefundamental errors, however, since these errors were previouslydetermined with respect to a (number of) inner target portion(s) C, theymay be compensated for by the correction heights Δh. Of course, thistechnique may also be used for inner target portions (i.e. targetportions that are not on the edge of the substrate W).

It will be understood that with the embodiments described here, it isnot necessary to adhere to the technique of “measuring where youexpose.” According to the embodiments, leveling measurements are nowalso performed in areas where no exposure is performed. Because of thecorrection scheme, no height and tilt jump occur anymore.

It will be understood that the above described embodiments may very wellbe used in “multiple stage” machines as explained above. In such amultiple stage machine, the correction heights Δh can be computed basedon measurements performed on a first location.

In fact, according to an embodiment, during the leveling measurements,as many leveling measurements (i.e. all level sensor spots LSS) areobtained and stored for use during a following leveling operation.

The embodiments described may be used in all kinds of lithographicapparatus, including single-stage and multi-stage apparatus,transmissive and reflective (e.g. using EUV radiation) lithographicapparatus.

The embodiments described may result in a higher throughput oflithographic apparatus and a reduced number of defective products.

Although specific reference may be made in this text to the use oflithographic apparatus in the manufacture of ICs, it should beunderstood that the lithographic apparatus described herein may haveother applications, such as the manufacture of integrated opticalsystems, guidance and detection patterns for magnetic domain memories,flat-panel displays, liquid-crystal displays (LCDs), thin-film magneticheads, etc. The skilled artisan will appreciate that, in the context ofsuch alternative applications, any use of the terms “wafer” or “die”herein may be considered as synonymous with the more general terms“substrate” or “target portion”, respectively. The substrate referred toherein may be processed, before or after exposure, in for example atrack (a tool that typically applies a layer of resist to a substrateand develops the exposed resist), a metrology tool and/or an inspectiontool. Where applicable, the disclosure herein may be applied to such andother substrate processing tools. Further, the substrate may beprocessed more than once, for example in order to create a multi-layerIC, so that the term substrate used herein may also refer to a substratethat already contains multiple processed layers.

Although specific reference may have been made above to the use ofembodiments of the invention in the context of optical lithography, itwill be appreciated that the invention may be used in otherapplications, for example imprint lithography, and where the contextallows, is not limited to optical lithography. In imprint lithography, atopography in a patterning device defines the pattern created on asubstrate. The topography of the patterning device may be pressed into alayer of resist supplied to the substrate whereupon the resist is curedby applying electromagnetic radiation, heat, pressure or a combinationthereof. The patterning device is moved out of the resist leaving apattern in it after the resist is cured.

The terms “radiation” and “beam” used herein encompass all types ofelectromagnetic radiation, including ultraviolet (UV) radiation (e.g.having a wavelength of or about 365, 355, 248, 193, 157 or 126 nm) andextreme ultra-violet (EUV) radiation (e.g. having a wavelength in therange of 5-20 nm), as well as particle beams, such as ion beams orelectron beams.

The term “lens”, where the context allows, may refer to any one orcombination of various types of optical components, includingrefractive, reflective, magnetic, electromagnetic and electrostaticoptical components.

While specific embodiments of the invention have been described above,it will be appreciated that the invention may be practiced otherwisethan as described. For example, the invention may take the form of acomputer program containing one or more sequences of machine-readableinstructions describing a method as disclosed above, or a data storagemedium (e.g. semiconductor memory, magnetic or optical disk) having sucha computer program stored therein.

The descriptions above are intended to be illustrative, not limiting.Thus, it will be apparent to one skilled in the art that modificationsmay be made to the invention as described without departing from thescope of the claims set out below.

1. A method for positioning at least one target portion of a substratewith respect to a focal plane of a projection system, the methodcomprising: performing height measurements of at least part of thesubstrate to generate height data; using predetermined correctionheights to compute corrected height data for the height data; andpositioning the target portion of the substrate with respect to thefocal plane of the projection system at least partially based on thecorrected height data.
 2. A method according to claim 1, wherein the atleast part of the substrate is at least partially outside the targetportion that is to be positioned with respect to the projection systemand the method further comprises: using predetermined correction heightsto compute corrected height data for the height data corresponding to atleast one area of the at least part of the substrate located outside thetarget portion.
 3. A method according to claim 1, wherein the at leastpart of the substrate is at least partially inside the target portionthat is to be positioned with respect to the projection system and themethod further comprises: using predetermined correction heights tocompute corrected height data for the height data corresponding to atleast one area of the at least part of the substrate located inside thetarget portion.
 4. A method according to claim 1, wherein heightmeasurements are performed for a number of gridlines; wherein, for afirst portion of the gridlines, at least part of the substrate is atleast partially outside the target portion that is to be positioned withrespect to the projection system and the method further comprises usingpredetermined correction heights to compute corrected height data forthe height data corresponding to at least one area of the at least partof the substrate located outside the target portion; and wherein, for asecond portion of the gridlines, at least part of the substrate is atleast partially inside the target portion that is to be positioned withrespect to the projection system and the method further comprises usingpredetermined correction heights to compute corrected height data forthe height data corresponding to at least one area of the at least partof the substrate located inside the target portion.
 5. A methodaccording to claim 1, wherein the height measurements are performed byscanning the at least part of the substrate in a scanning direction witha level sensor.
 6. A method according to claim 5, wherein the levelsensor is an optical sensor, a pneumatic sensor, a capacitive sensor, anair gauge, or a scanning needle profiler.
 7. A lithographic apparatuscomprising: a support constructed to support a patterning device, thepatterning device being capable of imparting a radiation beam with apattern in its cross-section to form a patterned radiation beam; asubstrate table constructed to hold a substrate; a projection systemconfigured to project the patterned radiation beam onto a target portionof the substrate; and a level sensor configured to perform heightmeasurements of at least part of the substrate to generate height data,for use in positioning a target portion of the substrate with respect toa focal plane of the projection system, wherein the lithographicapparatus is adapted to use predetermined correction heights to computecorrected height data for the height data.
 8. A lithographic apparatusaccording to claim 7, wherein the level sensor is arranged to generateheight data with respect to at least part of the substrate that is atleast partially outside the target portion that is to be positioned withrespect to the projection system, and is further arranged to compute thecorrected height data for the height data corresponding to at least onearea of the at least part of the substrate located outside the targetportion.
 9. A lithographic apparatus according to claim 7, wherein thelevel sensor is arranged to generate height data with respect to atleast part of the substrate that is at least partially inside the targetportion that is to be positioned with respect to the projection system,and is further arranged to compute the corrected height data for theheight data corresponding to at least one area of the at least part ofthe substrate located inside the target portion.
 10. A lithographicapparatus according to claim 7, wherein the level sensor is configuredto perform height measurements for a number of gridlines; wherein, for afirst portion of the gridlines, the level sensor is arranged to generateheight data with respect to at least part of the substrate that is atleast partially outside the target portion that is to be positioned withrespect to the projection system, and is further arranged to compute thecorrected height data for the height data corresponding to at least onearea of the at least part of the substrate located outside the targetportion; and wherein, for a second portion of the gridlines, the levelsensor is arranged to generate height data with respect to at least partof the substrate that is at least partially inside the target portionthat is to be positioned with respect to the projection system, and isfurther arranged to compute the corrected height data for the heightdata corresponding to at least one area of the at least part of thesubstrate located inside the target portion.
 11. A method for generatingcorrection heights to correct height data obtained by a level sensormeasuring a substrate, the method comprising: performing heightmeasurements of at least one target portion of the substrate to generatea height profile; computing a level profile based on the height profile;and determining correction heights by computing the difference betweenthe level profile and the height profile.
 12. A method according toclaim 11, wherein the height profile is obtained by averaging heightdata obtained with respect to at least two target portions.
 13. A methodaccording to claim 11, wherein the level profile is obtained bycomputing a fit through the height profile.
 14. A method for generatingcorrection heights to correct height data obtained by a level sensormeasuring a substrate, the method comprising: performing heightmeasurements of at least one target portion of the substrate to generatea height profile; performing height measurements in an area outside theat least one target portion of the substrate to generate an additionalheight profile; computing a level profile based on the height profile;extrapolating the level profile to the area outside the at least onetarget portion that corresponds to the additional height profile, toprovide an extrapolated level profile; and determining correctionheights by computing the difference between the extrapolated levelprofile and the additional height profile.
 15. A method according toclaim 14, wherein the height profile is obtained by averaging heightdata obtained with respect to at least two target portions.
 16. A methodaccording to claim 14, wherein the additional height profile is obtainedby averaging height data obtained with respect to at least two targetportions.
 17. A method according to claim 14, wherein the level profileis obtained by computing a fit through the height profile.
 18. Alithographic apparatus comprising: a support constructed to support apatterning device, the patterning device being capable of imparting aradiation beam with a pattern in its cross-section to form a patternedradiation beam; a substrate table constructed to hold a substrate; aprojection system configured to project the patterned radiation beamonto a target portion of the substrate; and a level sensor configured toperform height measurements of at least part of the substrate togenerate height data, for use in positioning a target portion of thesubstrate with respect to a focal plane of the projection system,wherein the lithographic apparatus is arranged to: perform heightmeasurements of at least one target portion of the substrate to generatea height profile, compute a level profile based on the height profile,and determine correction heights by computing the difference between thelevel profile and the height profile.
 19. A lithographic apparatuscomprising: a support constructed to support a patterning device, thepatterning device being capable of imparting a radiation beam with apattern in its cross-section to form a patterned radiation beam; asubstrate table constructed to hold a substrate; a projection systemconfigured to project the patterned radiation beam onto a target portionof the substrate; and a level sensor configured to perform heightmeasurements of at least part of the substrate to generate height data,for use in positioning a target portion of the substrate with respect toa focal plane of the projection system, wherein the lithographicapparatus is arranged to: perform height measurements of at least onetarget portion of the substrate to generate a height profile, performheight measurements in an area outside the at least one target portionof the substrate to generate an additional height profile, compute alevel profile based on the height profile, extrapolate the level profileto the area outside the at least one target portion that corresponds tothe additional height profile, to provide an extrapolated level profile,and determine correction heights by computing the difference between theextrapolated level profile and the additional height profile.
 20. Alithographic apparatus comprising: a support constructed to support apatterning device, the patterning device being capable of imparting aradiation beam with a pattern in its cross-section to form a patternedradiation beam; a substrate table constructed to hold a substrate; aprojection system configured to project the patterned radiation beamonto a target portion of the substrate; and a level sensor configured toperform height measurements of at least part of the substrate togenerate height data, for use in positioning a target portion of thesubstrate with respect to a focal plane of the projection system,wherein the lithographic apparatus further comprises a processor and amemory, the memory being encoded with a computer program containinginstructions that are executable by the processor to perform a methodfor positioning the target portion of the substrate with respect to thefocal plane of the projection system, wherein the method comprises:performing height measurements of at least part of the substrate togenerate height data; using predetermined correction heights to computecorrected height data for the height data; and positioning the targetportion of the substrate with respect to the focal plane of theprojection system at least partially based on the corrected height data.21. A lithographic apparatus according to claim 20, wherein the at leastpart of the substrate is at least partially outside the target portionthat is to be positioned with respect to the projection system, andwherein the method further comprises computing, using predeterminedcorrection heights, corrected height data for the height datacorresponding to at least one area of the at least part of the substratelocated outside the target portion.
 22. A lithographic apparatusaccording to claim 20, wherein the at least part of the substrate is atleast partially inside the target portion that is to be positioned withrespect to the projection system, and wherein the method furthercomprises computing, using predetermined correction heights, correctedheight data for the height data corresponding to at least one area ofthe at least part of the substrate located inside the target portion.23. A lithographic apparatus according to claim 20, wherein the at leastpart of the substrate is partially outside and partially inside thetarget portion that is to be positioned with respect to the projectionsystem, wherein the level sensor is configured to perform heightmeasurements for a number of gridlines, wherein, for a first portion ofthe gridlines, the method further comprises computing, usingpredetermined correction heights, corrected height data for the heightdata corresponding to at least one area of the at least part of thesubstrate located outside the target portion, and wherein, for a secondportion of the gridlines, the method further comprises computing, usingpredetermined correction heights, corrected height data for the heightdata corresponding to at least one area of the at least part of thesubstrate located inside the target portion.
 24. A lithographicapparatus comprising: a support constructed to support a patterningdevice, the patterning device being capable of imparting a radiationbeam with a pattern in its cross-section to form a patterned radiationbeam; a substrate table constructed to hold a substrate; a projectionsystem configured to project the patterned radiation beam onto a targetportion of the substrate; and a level sensor configured to performheight measurements of at least part of the substrate to generate heightdata, for use in positioning a target portion of the substrate withrespect to a focal plane of the projection system, wherein thelithographic apparatus further comprises a processor and a memory, thememory being encoded with a computer program containing instructionsthat are executable by the processor to perform a method for calculatingcorrection heights to correct height data obtained by the level sensor,wherein the method comprises: performing height measurements of thetarget portion of the substrate to generate a height profile; computinga level profile based on the height profile; and determining correctionheights by computing the difference between the level profile and theheight profile.
 25. A lithographic apparatus comprising: a supportconstructed to support a patterning device, the patterning device beingcapable of imparting a radiation beam with a pattern in itscross-section to form a patterned radiation beam; a substrate tableconstructed to hold a substrate; a projection system configured toproject the patterned radiation beam onto a target portion of thesubstrate; and a level sensor configured to perform height measurementsof at least part of the substrate to generate height data, for use inpositioning a target portion of the substrate with respect to a focalplane of the projection system, wherein the lithographic apparatusfurther comprises a processor and a memory, the memory being encodedwith a computer program containing instructions that are executable bythe processor to perform a method for calculating correction heights tocorrect height data obtained by the level sensor, wherein the methodcomprises: performing height measurements of the target portion of thesubstrate to generate a height profile; performing height measurementsin an area outside the target portion of the substrate to generate anadditional height profile; computing a level profile based on the heightprofile; extrapolating the level profile to the area outside the targetportion that corresponds to the additional height profile, to provide anextrapolated level profile; and determining correction heights bycomputing the difference between the extrapolated level profile and theadditional height profile.
 26. A system for controlling the position ofa substrate, the system comprising a processor and a memory, the memorybeing encoded with a computer program containing instructions that areexecutable by the processor to perform, using height data, a method forpositioning a target portion of the substrate with respect to a focalplane of a projection system, wherein the method comprises: performingheight measurements of at least part of the substrate to generate theheight data; using predetermined correction heights to compute correctedheight data for the height data; and positioning the target portion ofthe substrate with respect to the focal plane of the projection systemat least partially based on the corrected height data.
 27. A systemaccording to claim 26, wherein the at least part of the substrate is atleast partially outside the target portion that is to be positioned withrespect to the projection system and the method further comprisescomputing, using predetermined correction heights, corrected height datafor the height data corresponding to at least one area of the at leastpart of the substrate located outside the target portion.
 28. A systemaccording to claim 26, wherein the at least part of the substrate is atleast partially inside the target portion that is to be positioned withrespect to the projection system and the method further comprisescalculating, using predetermined correction heights, corrected heightdata for the height data corresponding to at least one area of the atleast part of the substrate located inside the target portion.
 29. Asystem according to claim 26, wherein the at least part of the substrateis partially inside and partially outside the target portion that is tobe positioned with respect to the projection system, wherein the systemis adapted to process height measurements from a level sensor for anumber of gridlines, wherein, for a first portion of the gridlines, themethod further comprises computing, using predetermined correctionheights, corrected height data for the height data corresponding to atleast one area of the at least part of the substrate located outside thetarget portion, and wherein, for a second portion of the gridlines, themethod further comprises computing, using predetermined correctionheights, corrected height data for the height data corresponding to atleast one area of the at least part of the substrate located inside thetarget portion.
 30. A system according to claim 26, wherein theprocessor is adapted to communicate at least indirectly with a positionsensor and is adapted to control at least indirectly the position thesubstrate.
 31. A system for controlling the position of a substrate, thesystem comprising a processor and a memory, the memory being encodedwith a computer program containing instructions that are executable bythe processor to perform a method for calculating correction heights tocorrect height data obtained by a level sensor, wherein the methodcomprises: performing height measurements of a target portion of thesubstrate to generate a height profile; computing a level profile basedon the height profile; and determining correction heights by computingthe difference between the level profile and the height profile.
 32. Asystem according to claim 31, wherein the processor is adapted tocommunicate at least indirectly with an alignment sensor and is adaptedto control at least indirectly the position the substrate.
 33. A systemfor controlling the position of a substrate, the system comprising aprocessor and a memory, the memory being encoded with a computer programcontaining instructions that are executable by the processor to performa method for calculating correction heights to correct height dataobtained by a level sensor, wherein the method comprises: performingheight measurements of a target portion of the substrate to generate aheight profile; performing height measurements in an area outside thetarget portion of the substrate to generate an additional heightprofile; computing a level profile based on the height profile;extrapolating the level profile to the area outside the target portionthat corresponds to the additional height profile, to provide anextrapolated level profile; and determining correction heights bycomputing the difference between the extrapolated level profile and theadditional height profile.
 34. A system according to claim 33, whereinthe processor is adapted to communicate at least indirectly with analignment sensor and is adapted to control at least indirectly theposition the substrate.
 35. A computer-readable medium encoded with acomputer program containing instructions that are executable by aprocessor to perform, using height data, a method for positioning atarget portion of a substrate with respect to a focal plane of aprojection system, wherein the method comprises: performing heightmeasurements of at least part of the substrate to generate the heightdata; using predetermined correction heights to compute corrected heightdata for the height data; and positioning the target portion of thesubstrate with respect to the focal plane of the projection system atleast partially based on the corrected height data.
 36. Acomputer-readable medium according to claim 35, wherein the at leastpart of the substrate is at least partially outside the target portionthat is to be positioned with respect to the projection system and themethod further comprises computing, using predetermined correctionheights, corrected height data for the height data corresponding to atleast one area of the at least part of the substrate located outside thetarget portion.
 37. A computer-readable medium according to claim 35,wherein the at least part of the substrate is at least partially insidethe target portion that is to be positioned with respect to theprojection system and the method further comprises computing, usingpredetermined correction heights, corrected height data for the heightdata corresponding to at least one area of the at least part of thesubstrate located inside the target portion.
 38. A computer-readablemedium according to claim 35, wherein the at least part of the substrateis partially inside and partially outside the target portion that is tobe positioned with respect to the projection system, wherein thecomputer program is adapted to process height measurements from a levelsensor for a number of gridlines, wherein, for a first portion of thegridlines, the method further comprises computing, using predeterminedcorrection heights, corrected height data for the height datacorresponding to at least one area of the at least part of the substratelocated outside the target portion, and wherein, for a second portion ofthe gridlines, the method further comprises computing, usingpredetermined correction heights, corrected height data for the heightdata corresponding to at least one area of the at least part of thesubstrate located inside the target portion.
 39. A computer-readablemedium encoded with a computer program containing instructions that areexecutable by a processor to perform a method for calculating correctionheights to correct height data obtained by a level sensor, wherein themethod comprises: performing height measurements of a target portion ofthe substrate to generate a height profile; computing a level profilebased on the height profile; and determining correction heights bycomputing the difference between the level profile and the heightprofile.
 40. A computer-readable medium encoded with a computer programcontaining instructions that are executable by a processor to perform amethod for calculating correction heights to correct height dataobtained by a level sensor, wherein the method comprises: performingheight measurements of a target portion of the substrate to generate aheight profile; performing height measurements in an area outside thetarget portion of the substrate to generate an additional heightprofile; computing a level profile based on the height profile;extrapolating the level profile to the area outside the target portionthat corresponds to the additional height profile, to provide anextrapolated level profile; and determining correction heights bycomputing the difference between the extrapolated level profile and theadditional height profile.